FR3101306B1 - Steering angle control device of a self-driving motor vehicle - Google Patents

Steering angle control device of a self-driving motor vehicle Download PDF

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Publication number
FR3101306B1
FR3101306B1 FR1910854A FR1910854A FR3101306B1 FR 3101306 B1 FR3101306 B1 FR 3101306B1 FR 1910854 A FR1910854 A FR 1910854A FR 1910854 A FR1910854 A FR 1910854A FR 3101306 B1 FR3101306 B1 FR 3101306B1
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FR
France
Prior art keywords
vehicle
steering angle
motor vehicle
steering
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1910854A
Other languages
French (fr)
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FR3101306A1 (en
Inventor
Bautista David Gonzalez
Milanes Vicente
Matos Francisco Martin Navas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR1910854A priority Critical patent/FR3101306B1/en
Priority to CN202080068873.XA priority patent/CN114502449A/en
Priority to EP20800551.2A priority patent/EP4037948B1/en
Priority to KR1020227013090A priority patent/KR20220075353A/en
Priority to PCT/EP2020/076676 priority patent/WO2021063787A1/en
Priority to JP2022519267A priority patent/JP2022550530A/en
Publication of FR3101306A1 publication Critical patent/FR3101306A1/en
Application granted granted Critical
Publication of FR3101306B1 publication Critical patent/FR3101306B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0014—Adaptive controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L’invention concerne un dispositif (1) de contrôle de l’angle de braquage d’un véhicule automobile comprenant un contrôleur latéral (14) adapté à générer en sortie une commande vers au moins un actionneur d’un système de direction (15) du véhicule agissant sur l’angle de braquage des roues directrices du véhicule par l’intermédiaire de l’angle de rotation du volant du véhicule, de façon à suivre une trajectoire dans un mode de conduite automatisée, ledit dispositif étant caractérisé en ce qu’il comprend en outre un module (11) d’analyse de suivi de la trajectoire apte à détecter des conditions de route sans pente longitudinale et sans inclinaison latérale et, lorsque de telles conditions de route sont détectées, à fournir en sortie une valeur courante d’erreur d’angle de braquage des roues directrices du véhicule à un module (16) de compensation automatique de décalage d’angle du volant relié audit contrôleur latéral. Figure à publier avec l’abrégé : Fig. 1The invention relates to a device (1) for controlling the steering angle of a motor vehicle comprising a lateral controller (14) adapted to generate as an output a command to at least one actuator of a steering system (15). of the vehicle acting on the steering angle of the steered wheels of the vehicle via the angle of rotation of the steering wheel of the vehicle, so as to follow a path in an automated driving mode, said device being characterized in that it further comprises a module (11) for analyzing the trajectory capable of detecting road conditions without longitudinal slope and without lateral inclination and, when such road conditions are detected, to output a current value d steering angle error of the steered wheels of the vehicle to an automatic steering wheel angle offset compensation module (16) connected to said side controller. Figure to be published with the abstract: Fig. 1

FR1910854A 2019-10-01 2019-10-01 Steering angle control device of a self-driving motor vehicle Active FR3101306B1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1910854A FR3101306B1 (en) 2019-10-01 2019-10-01 Steering angle control device of a self-driving motor vehicle
CN202080068873.XA CN114502449A (en) 2019-10-01 2020-09-24 Steering angle control device for an autonomous motor vehicle
EP20800551.2A EP4037948B1 (en) 2019-10-01 2020-09-24 Device for controlling the steering angle of a self-driving motor vehicle
KR1020227013090A KR20220075353A (en) 2019-10-01 2020-09-24 A device for controlling the steering angle of an autonomous vehicle
PCT/EP2020/076676 WO2021063787A1 (en) 2019-10-01 2020-09-24 Device for controlling the steering angle of a self-driving motor vehicle
JP2022519267A JP2022550530A (en) 2019-10-01 2020-09-24 A device for controlling the steering angle of an autonomous vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1910854 2019-10-01
FR1910854A FR3101306B1 (en) 2019-10-01 2019-10-01 Steering angle control device of a self-driving motor vehicle

Publications (2)

Publication Number Publication Date
FR3101306A1 FR3101306A1 (en) 2021-04-02
FR3101306B1 true FR3101306B1 (en) 2021-10-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1910854A Active FR3101306B1 (en) 2019-10-01 2019-10-01 Steering angle control device of a self-driving motor vehicle

Country Status (6)

Country Link
EP (1) EP4037948B1 (en)
JP (1) JP2022550530A (en)
KR (1) KR20220075353A (en)
CN (1) CN114502449A (en)
FR (1) FR3101306B1 (en)
WO (1) WO2021063787A1 (en)

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CN113508350A (en) * 2020-01-23 2021-10-15 百度时代网络技术（北京）有限公司 Real-time steering calibration system based on feedback
EP4320019A1 (en) * 2021-04-07 2024-02-14 Ridecell, Inc. A systematic approach towards system identification based yaw rate estimation with low-cost imu+gps units
CN114954654B (en) * 2022-06-22 2023-11-28 阿波罗智能技术(北京)有限公司 Calculation method, control method and device for zero offset compensation angle of steering wheel of vehicle

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Also Published As

Publication number Publication date
WO2021063787A1 (en) 2021-04-08
JP2022550530A (en) 2022-12-02
KR20220075353A (en) 2022-06-08
FR3101306A1 (en) 2021-04-02
EP4037948A1 (en) 2022-08-10
CN114502449A (en) 2022-05-13
EP4037948B1 (en) 2023-11-22

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